Articulatable surgical instruments with separate and distinct closing and firing systems

ABSTRACT

A surgical instrument that has an articulatable end effector that includes a second jaw that is selectively moveable in a first direction relative to a first jaw upon application of a closing motion to the second jaw from a closure system and is further movable in a second direction relative to the first jaw upon application of an opening motion to the second jaw from the closure system. An elongated shaft assembly is coupled to the end effector and defines a longitudinal tool axis. The end effector is selectively articulatable in the first and second directions relative to the longitudinal tool axis upon application of articulation motions to the end effector. The end effector may include a firing member that is operable in response to firing motions applied thereto from a firing system. The closing system and firing system may be selectively independently operable from each other.

BACKGROUND

The present invention relates to surgical instruments and, in variousembodiments, to surgical cutting and stapling instruments and staplecartridges therefor that are designed to cut and staple tissue.

BRIEF DESCRIPTION OF DRAWINGS

The various features and advantages of this invention and the manner ofattaining them, will become more apparent and the invention itself willbe better understood by reference to the following description ofembodiments of the invention taken in conjunction with the accompanyingdrawings, wherein:

FIG. 1 is a perspective view of one surgical instrument arrangement;

FIG. 2 is an exploded perspective assembly view of a surgical endeffector arrangement;

FIG. 3 is a side elevational view of an anvil;

FIG. 4 is a side cross-sectional view of an end effector and portion ofan elongated shaft assembly with the end effector shown in anunarticulated position in solid lines and the end effector shown inarticulated positions in broken lines;

FIG. 5 is another side cross-sectional view of an end effector andportion of an elongated shaft assembly with the anvil in a closedposition and the cutting head in an end position after being fireddistally through the staple cartridge;

FIG. 6 is another side cross-sectional view of the end effector andelongated shaft assembly portion of FIG. 5 after the cutting head hasbeen retracted proximally back to its starting position;

FIG. 7 is another side cross-sectional view of an end effector andportion of an elongated shaft assembly with the anvil in an openposition and the cutting head in a starting position;

FIG. 8 is an enlarged cross-sectional view of the end effector andportion of the elongated shaft assembly of FIG. 7;

FIG. 9 is cross-sectional perspective view of the end effector andportion of the elongated shaft assembly of FIG. 8;

FIG. 10 is a perspective assembly view of an end effector and elongatedshaft assembly;

FIG. 11 is a cross-sectional view of a distal portion of an elongatedshaft assembly;

FIG. 12 is a cross-sectional view of a proximal portion of the elongatedshaft assembly of FIG. 11 along with a portion of an articulationsystem;

FIG. 13 is a perspective view of an elongated shaft assembly and endeffector; and

FIG. 14 is a partial perspective exploded view of a handle assembly.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate preferred embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application also owns the following patentapplications that were filed on Dec. 23, 2013, and which are each hereinincorporated by reference in their respective entireties:

-   -   U.S. patent application Ser. No. 14/138,465, entitled “Surgical        Staples and Staple Cartridges”, now U.S. Patent Application        Publication No. 2015/0173744;    -   U.S. patent application Ser. No. 14/138,475, entitled “Surgical        Staples and Staple Cartridges”, now U.S. Patent Application        Publication No. 2015/0173749;    -   U.S. patent application Ser. No. 14/138,481, entitled “Surgical        Staples and Methods For Making the Same”, now U.S. Patent        Application Publication No. 2015/0173750;    -   U.S. patent application Ser. No. 14/138,489, entitled “Surgical        Staples, Staple Cartridges and Surgical End Effectors”, now U.S.        Patent Application Publication No. 2015/0173751;    -   U.S. Design patent application No. 29/477,488, entitled        “Surgical Fastener”;    -   U.S. patent application Ser. No. 14/138,505, entitled “Fastener        Cartridge Comprising an Extendable Firing Member”, now U.S.        Patent Application Publication No. 2015/0173760;    -   U.S. patent application Ser. No. 14/138,518, entitled “Fastener        Cartridge Comprising a Firing Member Configured to Directly        Engage and Eject Fasteners From the Fastener Cartridge”, now        U.S. Patent Application Publication No. 2015/0173761;    -   U.S. patent application Ser. No. 14/138,530, entitled “Fastener        Cartridge Comprising a Firing Member Including Fastener        Surfaces”, now U.S. Patent Application Publication No.        2015/0173762;    -   U.S. patent application Ser. No. 14/138,554, entitled “Surgical        Instruments With Articulatable Shaft Arrangements”, now U.S.        Patent Application Publication No. 2015/0173789;    -   U.S. patent application Ser. No. 14/138,485, entitled “Surgical        Cutting and Stapling Instruments With Independent Jaw Control        Features”, now U.S. Patent Application Publication No.        2015/0173746;    -   U.S. patent application Ser. No. 14/138,497, entitled “Surgical        Cutting and Stapling Instruments With Articulatable End        Effectors”, now U.S. Patent Application Publication No.        2015/0173755;    -   U.S. patent application Ser. No. 14/138,516 entitled “Surgical        Cutting and Stapling Methods”, now U.S. Patent Application        Publication No. 2015/0173756; and    -   U.S. patent application Ser. No. 14/138,507, entitled “Modular        Surgical Instruments”, now U.S. Patent Application Publication        No. 2015/0173747.

Certain exemplary embodiments will now be described to provide anoverall understanding of the principles of the structure, function,manufacture, and use of the devices and methods disclosed herein. One ormore examples of these embodiments are illustrated in the accompanyingdrawings. Those of ordinary skill in the art will understand that thedevices and methods specifically described herein and illustrated in theaccompanying drawings are non-limiting exemplary embodiments and thatthe scope of the various embodiments of the present invention is definedsolely by the claims. The features illustrated or described inconnection with one exemplary embodiment may be combined with thefeatures of other embodiments. Such modifications and variations areintended to be included within the scope of the present invention.

Reference throughout the specification to “various embodiments,” “someembodiments,” “one embodiment,” or “an embodiment”, or the like, meansthat a particular feature, structure, or characteristic described inconnection with the embodiment is included in at least one embodiment.Thus, appearances of the phrases “in various embodiments,” “in someembodiments,” “in one embodiment”, or “in an embodiment”, or the like,in places throughout the specification are not necessarily all referringto the same embodiment. Furthermore, the particular features,structures, or characteristics may be combined in any suitable manner inone or more embodiments. Thus, the particular features, structures, orcharacteristics illustrated or described in connection with oneembodiment may be combined, in whole or in part, with the featuresstructures, or characteristics of one or more other embodiments withoutlimitation. Such modifications and variations are intended to beincluded within the scope of the present invention.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” referring to the portion closest to the clinicianand the term “distal” referring to the portion located away from theclinician. It will be further appreciated that, for convenience andclarity, spatial terms such as “vertical”, “horizontal”, “up”, and“down” may be used herein with respect to the drawings. However,surgical instruments are used in many orientations and positions, andthese terms are not intended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, theperson of ordinary skill in the art will readily appreciate that thevarious methods and devices disclosed herein can be used in numeroussurgical procedures and applications including, for example, inconnection with open surgical procedures. As the present DetailedDescription proceeds, those of ordinary skill in the art will furtherappreciate that the various instruments disclosed herein can be insertedinto a body in any way, such as through a natural orifice, through anincision or puncture hole formed in tissue, etc. The working portions orend effector portions of the instruments can be inserted directly into apatient's body or can be inserted through an access device that has aworking channel through which the end effector and elongated shaft of asurgical instrument can be advanced.

Turning to the Drawings wherein like numerals denote like componentsthroughout the several views, FIG. 1 depicts a surgical instrument 10that is capable of practicing several unique benefits of the presentinvention. The surgical instrument 10 is designed to manipulate and/oractuate various forms and sizes of end effectors 12 that are operablyattached to an elongated shaft assembly 100 of the surgical instrument.In the depicted embodiment, for example, the end effector 12 comprises asurgical stapling device that has openable and closable jaws 13 and 15.More specifically, the end effector 12 includes an elongated channel 14that forms a lower jaw 13 of the end effector 12. See FIG. 2. In theillustrated arrangement, the elongated channel 14 is configured tooperably support a staple cartridge 30 and also movably supports ananvil 20 that functions as an upper jaw 15 of the end effector 12.

Referring now to FIGS. 2 and 3, the anvil 20 may have a mounting portion22 that protrudes from its proximal end 21. The mounting portion 22 mayhave lateral mounting holes 24 therethrough that enable the mountingportion 22 to be pivotally pinned to an upstanding pivot boss 17 formedin the elongated channel 14 by an anvil pin 18. The anvil 20 may beselectively “moved” towards the surgical staple cartridge 30 mounted inthe elongated channel 14 by axially advancing a distal closure tubsegment 190 in the distal direction “DD” as will be discussed in furtherdetail below. In various implementations, for example, a first anvilactuation member in the form of an anvil camming pin 19 may extendthrough a camming slot 23 provided in the anvil mounting portion 22. Thecamming pin 19 is mounted in holes 191 provided in the distal closuretube segment 190 such that movement of the distal closure tube segment190 in the distal and proximal directions will result in the movement ofthe camming pin 19 in the camming slot 23. In addition, the distalclosure tube segment 190 may further include a second anvil actuationmember in the form of, for example, an actuation pin 193 that ispositioned to interact with an angled actuation surface 25 formed on theproximal end of the anvil mounting portion 22. FIGS. 7-9 illustrate theanvil 20 in a first or open position. The anvil 20 may be moved to aclosed position by moving the distal closure tube segment 190 in thedistal direction “DD”. Movement of the distal closure tube segment 190in the distal direction “DD” causes the first camming pin 19 to movewithin the camming slot 23 in the anvil mounting portion 22 whichthereby causes the anvil 20 to pivot about the anvil pin 18 to theclosed position as illustrated in FIGS. 4-6. To return the anvil 20 tothe open position (FIGS. 7-9), the distal closure tube segment 190 ismoved in the proximal direction “PD” which causes the first camming pin19 to move in the camming slot 23 in an opposite direction and cam theanvil 20 to the open position. Such closure tube arrangement differsfrom prior closure tube arrangements wherein the distal end of theclosure tube segment is configured to contact the anvil and pivot it toa closed position. Use of the present camming pin arrangements does notrequire use of an anvil that has a more robust portion configured foractuation contact with the closure tube segment.

In various arrangements, the end effector 12 may be configured to beselectively articulated about a longitudinal tool axis LT-LT that isdefined by the elongated shaft assembly 100. For example, the elongatedshaft assembly 100 may include a flexible neck assembly 110 that enablesthe end effector 12 to articulate in a first direction “FD” that isessentially the same direction that the anvil 20 moves in when the anvil20 is moved from an open position to a closed position (hereinafterreferred to as the anvil closing direction “CD”). See FIGS. 4 and 8. Theflexible neck assembly 110 will further facilitate articulation of theend effector 112 in a second articulation direction “SD” that isessentially the same as the direction that the anvil moves from a closedposition to an open position (hereinafter referred to the anvil openingdirection “OD”). See FIGS. 4 and 7.

Various flexible neck assemblies are disclosed in U.S. ProvisionalPatent Application Ser. No. 61/386,117, filed Sep. 24, 2010, the entiredisclosure of which is herein incorporated by reference. Other flexibleneck assemblies are disclosed in U.S. Patent Application Publication No.US 2012/0074200 A1, entitled SURGICAL INSTRUMENT WITH SELECTIVELYARTICULATABLE END EFFECTOR, filed Sep. 23, 2011, the entire disclosureof which is hereby incorporated by reference herein. The flexible neckassembly 110 may, for example, be composed of rigid thermoplasticpolyurethane sold commercially as ISOPLAST grade 2510 by the DowChemical Company. The flexible neck assembly 110 may have a flexibleneck segment 111 that comprises a first or upper flexible neck portion112 and a second or lower flexible neck portion 114. These neck portions112, 114 may be separated by a longitudinal rib portion 116. The neckportions 112, 114 may each have a plurality of neck ribs 118 that areconfigured essentially as semi-circular disks which together generallyform a cylindrical configuration. An upper slot 120 extends through eachof the neck ribs 118 of the first or upper flexible neck portion 112 toform a passage through the first flexible neck portion 112 for receivinga first flexible transmission band assembly 150 therethrough. Similarly,a lower slot 121 extends through each of the neck ribs 118 in the secondor lower flexible neck portion 114 to form a passage for receiving asecond flexible transmission band assembly 170 therethrough. See, forexample, FIG. 4. The flexible neck assembly 110 may include guidesurfaces 124 (only one can be seen in FIG. 10) that extend proximallyfrom the flexible neck segment 111 for supporting the reciprocatingmovement of the flexible transmission band assemblies 150, 170.

As can be seen in FIG. 10, the first or upper transmission band assembly150 may include a first transmission band 152 and the secondtransmission band assembly 170 may include a second transmission band172. In addition, the first transmission band 150 may have a firstelongated structural portion 154 and the second transmission band 170may have a second elongated structural portion 174. When the first andsecond transmission bands 150, 170 are brought into contact with eachother during assembly of the instrument, they form an elongated cylinderwhich has a longitudinal cavity 160 extending concentrically through itto operably receive a firing rod 530 therethrough. See FIGS. 11 and 12.The first structural portion 154 of the first transmission band 152 hasa first articulation rack 156 formed thereon and the second structuralportion 174 of the second transmission band 172 has a secondarticulation rack 176 formed thereon which, as will be discussed infurther detail below, drivingly interface with an articulationtransmission assembly 200.

Referring again to FIG. 10, the first transmission band 152 may have afirst exterior reinforcement band portion 157 that extends distally fromthe first structural portion 154. Likewise, the second transmission band172 may have a second exterior reinforcement band portion 177 thatextends distally from the second structural portion 176. Each exteriorreinforcement band portion 157, 177 may have a plurality of attachmentlugs 162 for securing first and second interior articulation bands 158,178 thereto. For example, the first transmission band 152 has a firstinterior articulation band 158 attached thereto and the secondtransmission band 172 has a second interior articulation band 178attached thereto. The first and second transmission bands 152, 172 maybe composed of a plastic, especially a glass fiber-reinforced amorphouspolyamide, sold commercially under the trade name Grivory GV-6H byEMS-American Grilon. In contrast, the interior articulation bands 158,178 of the transmission band assembly may be composed of a metal,advantageously full hard 301 stainless steel or its equivalent. Theattachment lugs 162 on the exterior reinforcement band portions 157, 177of the transmission bands 152, 172, respectively, are received into andsecured within a plurality of lug holes 164 on the correspondinginterior articulation band 158, 178. See FIG. 10.

In at least one implementation, the proximal end of the elongatedcartridge channel 14 is provided with a pair of upper and lower bandconnector ears 50. See FIGS. 2 and 4-8. These band connector ears 50 areinserted into and through connector loops 159, 179 on the distal end ofthe interior articulation bands 158, 178, respectively. In this manner,the cartridge channel 14 is coupled to the interior articulation bands158, 178 of the flexible neck assembly 110. Specifically, thereciprocation of the first and second flexible transmission bandassemblies 150, 170 in opposite directions causes the interiorarticulation bands 158, 178 received in the upper and lower slots 120,121 on the flexible neck segment 111 to reciprocate in a like manner.Upon reciprocation of the interior articulation bands 158, 178, inparticular when the first band 158 is moved proximally in tandem withthe second band 178 moving distally, the first and second flexible neckportions 114, 116 bend as the neck ribs 118 of the first flexible neckportion 114 move toward each other and the neck ribs 118 of the secondflexible neck rib portion 116 concurrently move away from each other.The coupling of the interior articulation bands 158, 178 to the exteriorreinforcement band portions 157, 177 of the transmission bands 152, 172,respectively prevents the interior articulation bands 158, 178 frombuckling between adjacent neck ribs.

In various arrangements, the distal closure tube segment 190 is slidover the channel guide 128 of the flexible neck assembly 110. Theproximal end 191 of the distal closure tube segment 190 has a pair ofdiametrically opposed slots 192 therein (only one can be seen in FIGS. 1and 10) for receiving distally protruding lugs 113 protruding from theflexible neck portion 111 to prevent rotation of the distal closure tubesegment 190 relative to the flexible neck portion 111. In variousembodiments, the distal closure tube segment 190 may be retained on thechannel guide 128 by a retention tab (not shown) that extends into thefastener hole (not shown) in the channel guide 128. However, otherfastening arrangements may be employed, for example. Such arrangementcauses the distal closure tube segment 190 to move axially with theflexible neck assembly 110.

Movement of the first and second transmission bands 152, 172 may becontrolled by an articulation transmission assembly 200. The componentparts of one form of articulation transmission assembly 200 areillustrated in FIG. 10. In one form, the articulation transmissionassembly 200 may include an actuator 210, an articulation body 220 and anozzle 250 (FIGS. 1 and 13). Rotational movement of the actuator 210causes corresponding rotation of the articulation body 220 within thenozzle 250. The first and second elongated transmission bands, 152 and172, consequently reciprocate axially in opposite directions parallel tothe longitudinal tool axis LT-LT of the elongated shaft assembly 100 tocause the remote articulation of the end effector 12.

Still referring to FIG. 10, the articulation body 220 has a deck 222consisting of first and second spaced-apart, semicircular deck halves,224, 226. The deck halves are mutually opposed to each other andessentially represent mirror images of each other. The first and seconddeck halves 224, 226 have protruding from their surfaces mutuallyopposed first and second detents 225, 227, respectively. Each deck half224, 226 has a set of deck teeth 228 spaced about 180 degrees from theset of deck teeth on the other deck half. The articulation body 220 hasa pair of rotation stops 230 protruding from its surface as well as apair of finger recesses 232. A drive gear 240 protrudes laterally fromthe articulation body 22. The drive gear 240 has a flared opening 242through it, and a lateral pivot 244. Within the flared opening 242 ofthe drive gear 240, there is a firing rod orifice (not shown) forreceiving a firing rod 530 therethrough enabling the application of afiring motion to the end effector 12. The drive gear 240 is configuredto intermesh with the first and second drive racks 156, 176,respectively to effect the desired reciprocating movement of the firstand second transmission bands 152, 172. See FIG. 12.

The nozzle 250 of the articulation transmission assembly 200 may includea nozzle body 252. The nozzle body 252 may have an axial bore 254therethrough that facilitates the passage of the first transmission bandassembly 150 and the second transmission band assembly 170 as well asfor the firing rod 530 and other operative components of the instrument10 including a the proximal end 306 of a proximal outer shaft segment300. See FIG. 12. The nozzle body 252 may also have a frame groove 256and flange 258 to rotatably fasten the nozzle body 252 to a housing 400.In various forms, a detent housing 260 comprises a portion of the nozzlebody 252. See FIG. 13. An annular array of detent teeth (not shown) isformed within the detent housing 260. A detent housing floor is spacedfrom the detent teeth. The floor may have a pair of ledges whichinteract within the rotation stops 230 of the articulation body 220 tolimit the degree of rotation. When the articulation body 220 is insertedinto the detent housing 260, the base of the articulation body 220 issupported on the floor within the detent housing 260, and the deck teeth228 of the first and second deck halves, 224, 226 are aligned formeshing engagement with the detent teeth of the detent housing 260. Aspring member 268 is supported within the articulation body to bias thedeck teeth 228 into meshing engagement with the detent teeth.

Referring again to FIG. 10, the actuator 210 may consist of a lever arm212, a cap 214 and a pair of retaining fingers 216. The lever arm 212 ismounted on the top of the cap 214. The pair of retaining fingers 216protrudes laterally from the underside of the cap 214. Each of theretaining fingers 216 has a retaining clip. The retaining fingers 216are received within the finger recesses 232 of the articulation body220. First and second detents, 225, 227, on the deck halves of thearticulation body are inserted into a slot depression within theunderside of the circular cap 214. Advantageously, each of the threesignificant components of the articulation transmission assembly, namelythe actuator, articulation body and nozzle, may be injection moldedcomponents. Such components, for example, may be fabricated from a glassfiber-reinforced amorphous polyamide, sold commercially under the tradename Grivory GV-4H by EMS—American Grilon 150.

Ratcheting rotation of the actuator 210 causes articulation of the endeffector 12 in the first or second directions relative to thelongitudinal tool axis LT-LT. FIG. 4 illustrates the end effector 12 inan unarticulated position in solid lines and exemplary ranges ofarticulation in broken lines. When the drive gear 240 on thearticulation body 220 of the articulation transmission 200 is rotated tothereby drive the first transmission band assembly 150 distally in the“DD” direction and the second transmission bar assembly 170 proximallyin the proximal direction “PD”, the end effector 12 will articulate inthe first articulation direction “FD” relative to the longitudinal toolaxis LT-LT. When the drive gear 240 on the articulation body 220 of thearticulation transmission 200 has been rotated to thereby drive thesecond articulation band assembly 170 in the distal direction “DD” andthe first articulation band assembly 150 in the proximal direction “PD”,the end effector 12 will pivot in a second direction “SD” relative tothe longitudinal tool axis LT-LT.

As can be seen in FIG. 10, the elongated shaft assembly 100 furtherincludes a proximal outer shaft segment 300 that is attached to theflexible neck assembly 110. The proximal outer shaft segment 300 issubstantially rigid and may be attached to the flexible neck portion 111of the flexible neck assembly 110 by, for example, a press fit, adhesiveor other suitable fastener arrangement. As can be seen in FIG. 10, in atleast one embodiment, the distal end 302 of the proximal outer shaftsegment 300 has a pair of opposed notches 304 therein that are adaptedto receive corresponding lugs 115 protruding from the flexible neckportion 111 such that rotation of the proximal outer shaft segment 300results in rotation of the flexible neck assembly 110 and ultimately ofthe end effector 12.

Still referring to FIG. 10, the proximal outer shaft segment 300 has aproximal end 306 that has a slot 308 for receiving the drive gear 240therethrough such that the proximal outer shaft segment 300 may moveaxially relative thereto. In addition, the proximal end 306 of theproximal outer shaft segment 300 has a flange 310 formed thereon thatfacilitates rotational attachment to a closure carriage 422 of anactuation system that is operably supported within the housing assembly400. The closure carriage and actuation system may be of the same orsimilar type, construction and operation as the closure carriage andactuation system disclosed in U.S. Patent Application Publication No. US2012/0074200 A1 which has been incorporated by reference herein in itsentirety.

Referring now to FIG. 14, the closure carriage 420 may comprise twocarriage segments 422 (only one is illustrated) that are interconnectedtogether by adhesive, snap features, screws, etc. As used herein, theterm “snap feature” includes, but is not limited to, for example, a tabthat has a protrusion thereon that is configured to retainingly engage acorresponding mating portion of another component. Such features may bedesigned to releasably engage the mating portion or it may not bedesigned or intended to be removed. In at least one form, the closurecarriage 420 has a distal end 424 that has a groove arrangement 426 thatis adapted to receive the flanged end 310 of the proximal outer shaftsegment 300. Such arrangement serves to attach the proximal end 306 ofthe proximal outer shaft segment 300 to the closure carriage 420 whilefacilitating its selective rotation of the proximal outer shaft segment300 relative to the closure carriage 420. Therefore, the elongated shaftassembly 100 and the end effector 12 that is operably coupled theretomay be selectively rotated about the longitudinal tool axis LT-LTrelative to the housing assembly 400.

In various implementations, the housing assembly 400 comprises apistol-shaped handle housing that may be fabricated in two or morepieces for assembly purposes. For example, the housing assembly 400 asshown comprises a right hand case member 402 and a left hand case member404 (FIG. 1) that are molded or otherwise fabricated from a polymer orplastic material and are designed to mate together. Such case members402 and 404 may be attached together by snap features, pegs and socketsmolded or otherwise formed therein and/or by adhesive, screws, etc. Whenassembled, the housing assembly 400 movably supports the closurecarriage 420 for selective axial travel therein in response to actuationmotions from a trigger, generally designated as 430. As the presentDetailed Description proceeds, however, it will be understood that thevarious unique and novel aspects and attributes of the variousimplementations of the present invention may be effectively attainedwhen employed with robotically controlled or otherwise remotelycontrolled systems. Thus, the term “housing” or “housing assembly” mayalso encompass a housing or similar portion of a robotic system thathouses or otherwise operably supports at least one drive system that isconfigured to generate and apply at least one control motion which couldbe used to actuate various forms of surgical end effectors attachedthereto. For example, various implementations of the surgical instrumentdescribed herein may be used in connection with those robotic systemsand arrangements disclosed in U.S. patent application Ser. No.13/536,323, entitled ROBOTICALLY-POWERED SURGICAL DEVICE WITH MANUALLYACTUATABLE REVERSING SYSTEM filed Jun. 28, 2012, the entire disclosureof which is incorporated by reference herein.

The trigger assembly 430 may, for example, comprise a primary trigger440 and a secondary trigger 460. The primary and secondary triggers 440and 460 are pivotally journaled on a pivot pin assembly 430 formed inthe housing assembly 400 such that the triggers 440 and 460 mayessentially move relative to each other. Such arrangement permits thetrigger assembly 430 to pivot relative to the housing assembly 400 abouta pivot axis PA-PA. See FIG. 14. The primary trigger 440 has anelongated, grippable primary trigger paddle 442 that protrudes from aprimary drive portion 444 that has a firing rack 446 formed thereon. Inone embodiment, the secondary trigger 460 has a secondary trigger paddle462 that protrudes from a secondary drive portion as discussed infurther detail 464 that is pivotally journaled on the pivot pin assembly430. The primary drive portion 444 has a slot 448 that is adapted toreceive the secondary drive portion 464 of the secondary trigger 460therein as the primary trigger paddle 442 is pivoted towards a pistolgrip portion 406 of the housing assembly 400. Such arrangementessentially enables the secondary trigger 460 to “nest” within theprimary trigger 440 during actuation. As will be discussed in detailbelow, the secondary trigger 460 is pivotally actuated by pivoting theprimary trigger 440. Thus, in other embodiments, the secondary trigger460 may lack the secondary trigger paddle 442. In various forms, thetrigger assembly 430 may be biased into the unactuated position by atrigger spring (not shown).

As can be seen in FIG. 14, the secondary drive portion 464 of thesecondary trigger 460 may have a closure gear segment 466 formed thereonthat is configured for meshing engagement with a carriage gear rack 423formed on the underside of the closure carriage 420. Thus, when thesecondary trigger 460 is pivoted toward the pistol grip 406, the closurecarriage 420 is driven in the distal direction “DD”.

In various implementations, the actuation system 410 may further includean actuation bar 470. The actuation bar 470 has a first actuation rack472 formed thereon that is configured for meshing engagement with theprimary gear segment 446 on the primary trigger 440. Thus, when theprimary gear segment 446 is in meshing engagement with the firstactuation rack 472, the actuation bar 470 is driven in the distaldirection “DD” when the primary trigger 440 is pivoted toward the pistolgrip 406. The actuation bar 470 has a second actuation rack 474 formedthereon configured to meshingly engage clutch teeth 484 on a clutchshaft 482 of a clutch assembly 480. In various embodiments, the clutchshaft 482 is rotatably is supported within the housing assembly 400 andis also laterally movable therein. The clutch shaft 482 has a hubportion 486 that has a plurality of spaced teeth 488 that are configuredto drivingly engage teeth openings 492 in a drive gear 490 that isrotatably supported on the clutch shaft 482. The drive gear 490 has asegment of drive gears 494 thereon that are adapted for meshingengagement with a firing rack 500 that is movably supported in thehousing assembly 400.

Various embodiments of the clutch assembly 480 may further comprise aclutch plate 510 that is slidably journaled on a clutch pin 449 providedon the primary drive portion 444 of the primary trigger 440. The clutchpin 449 may be movably received within a vertical slot 512 in the clutchplate 510. The clutch plate 510 also has a distally-extending clutch arm514 that is adapted to actuatably engage a bevel plate 489 formed on theclutch shaft 482. In addition, a clutch spring 520 is employed to biasthe clutch shaft 480 laterally such that the teeth 488 on the clutchshaft 482 are brought into meshing engagement with the teeth openings492 in the drive gear 490.

As can be seen in FIGS. 10 and 14, the firing rack 500 is coupled to afiring rod 530 that is attached to the proximal end of the knife barassembly 600. In various embodiments, the knife bar assembly 600 maycomprise an upper bar segment 602 and a lower bar segment 604. Sucharrangement may enable the knife bar assembly 600 to flex as the endeffector 12 is articulated, while remaining sufficiently rigid to bedriven distally through the shaft assembly 100. In the depictedembodiment, the upper and lower knife bar segments 602, 604 are eachattached to an “E-beam” cutting head 610. In the depicted configuration,the E-beam cutting head 610 includes a vertically oriented body portion612 that has an upper portion 615 and a lower portion 617. A bottom foot614 is formed on or attached to the lower portion 617. In alternativeembodiments, the bottom foot may essentially comprise laterallyextending lower tabs that protrude laterally from the lower portion.Similarly, at least one upper tab 616 is formed on or otherwise attachedto the upper portion 615 of the vertically oriented body portion 612. Inaddition, as can be seen in FIG. 2, the vertically oriented body portion612 further includes at least one intermediate tab portion 618 (only oneis shown) as well as a tissue cutting edge 620.

Referring to FIG. 2, the vertically oriented body portion 612 extendsthrough a longitudinally extending slot 622 in the elongated channel 14and a longitudinally extending slot 624 in the anvil 20. When assembled,portions of the elongated channel 14 are received between the bottomfoot 614 and the intermediate tab portions 618. The, upper tab portion616 is arranged to be received within the anvil 20 above portions 623 ofthe anvil 20 that define the anvil slot 624. To facilitate ease ofassembly, the anvil 20 may be provided with a movable anvil cover 626and the elongated channel 14 may be provided with a removable channelcover 628. Once assembled, the anvil cover 626 and the channel cover 628may be installed to prevent tissue, body fluids, etc. from entering theanvil 20 and the elongated channel 14, respectively which may hamperoperation of the cutting head 610.

In various arrangements, each staple cartridge 30 includes a cartridgebody 31 that has a sled assembly 630 operably supported therein. Thesled assembly 630 may have a mounting portion 632 that is configured toextend into a sled slot 613 formed in the vertically oriented bodyportion 612 of the cutting head 610. See FIGS. 2 and 4. The sledassembly 630 may be configured with wedges 634 that are arranged tocontact staple drivers 636 that are operably supported within the staplecartridge 30. The staple drivers 636 may support one or more staples 638thereon in a known manner. As the sled assembly 630 is driven in thedistal direction through the staple cartridge 30, the wedges 632 drivethe drivers upward within the cartridge 30 in a known manner. Theupwardly moving drivers 636 drive the staples 638 into forming contactwith a staple forming undersurface of the anvil 20. The undersurfacemay, for example, include staple-forming pockets that correspond to eachstaple.

The end effector 12 may also employ a cutting head lockout system,generally designated as 640 that serves to prevent distal advancement ofthe cutting head 630 when a new staple cartridge 30 is not presentwithin the elongated channel 14. In at least one arrangement, forexample, the cutting head lockout system 640 may comprise a lockoutspring 642 that is mounted to the bottom of elongated channel 14. Thelockout spring 642 may be configured to contact the bottom foot 614 ofthe cutting head assembly 610 when the cutting head assembly 610 is inthe starting position. See FIGS. 4, 6 and 9. An opening 644 may beprovided through the bottom of the elongated channel 14 such that whenin that position, the lockout spring 642 biases the bottom foot 614 suchthat it interferes with the bottom of the elongated channel 14. Thus,when the bottom foot 614 is in that position, if the clinician were totry advance the cutting head 610 distally through the elongated channel14, the bottom foot portion 614 will contact a portion of the elongatedchannel 14 to prevent such advancement of the cutting head 610. When acartridge 30 has been properly installed with the elongated channel 14,the mounting portion 632 of the sled assembly 630 extends into the sledslot 613 and serves to move the cutting head assembly 610 into aposition whereby the foot portion 614 is moved out of interferingcontact with the bottom of the elongated channel 14. When in thatposition, the cutting head assembly 610 is free to be advanced distallythrough the elongated channel 14. Such arrangement serves to prevent theclinician from inadvertently firing the end effector when a newcartridge is not present which could otherwise result in the tissuebeing cut but not stapled. As the cutting head 610 is advanced distally,the bottom foot 614, the intermediate tab portions 618 and the upper tab616 cooperate to orient the anvil 20 relative to the staple cartridgedeck at a desired spaced relationship relative to each other. A distallypresented tissue-cutting edge 620, which is between the upper tab 616and intermediate tab portions 618, severs clamped tissue while causingthe staples 638 within the staple cartridge 30 to be formed into thetissue clamped within the end effector 12.

As can be seen in FIG. 2, the upper firing bar 602 is attached to theupper end portion 615 and the lower firing bar 604 is spaced from theupper firing bar 602 and is attached to the lower end portion 617 of thevertically-extending portion 612 of the cutting head 610. Sucharrangement serves to transmit the firing motions to the upper and lowerportions of the cutting head 610 in an equivalent manner to facilitatealigned movement of the cutting head through the anvil 20, the surgicalstaple cartridge 30 and the elongated channel 14. In variousarrangements, for example, the upper firing bar 602 may be attached tothe upper end portion directly behind the upper tabs(s) such that theupper firing bar 602 is essentially axially aligned with point(s) fromwhich the upper tab(s) protrude laterally from the upper end portion.Similarly, the lower firing bar 604 may be attached to the bottom endportion directly behind the bottom foot or the point(s) from which thelaterally protruding bottom tabs protrude laterally from the bottomportion such that the lower firing bar 604 is axially aligned therewith.The upper and lower firing bars 602, 604 may be welded to the verticalextending portion 612 in those locations. For example, the welds may beapplied to the firing bars from one side or from both lateral sides ofthe firing bars. In at least one implementation, the upper and lowerfiring bars 602, 604 are not directly attached to each other. Theportions of the upper and lower firing bars 602, 604 that extend throughthe elongated shaft assembly 100 to be coupled to a distal end portion532 of the firing rod 530 are supported in a contiguous orientationrelative to each other. The proximal ends of the upper and lower firingbars 602, 604 may be attached to the distal end portion 532 of thefiring rod 530 by a coupler member 650. See FIG. 10. As will bediscussed in further detail below, the firing rod 530 facilitates theapplication of firing and retraction motions to the knife bar assembly600 by the actuation system 410. In at least one implementation, theanvil mounting portion 22 has a wedge-like formation 27 thereon thatserves to separate the upper firing bar 602 and lower firing bar 604 asthe knife bar assembly 600 is driven in the distal direction “DD”. See,for example, FIG. 9.

In various arrangements, the firing rod 530 extends through a closurebushing 540 that is mounted within the housing assembly 400. In at leastone form, a pair of mounting studs 407 protrude from the handle casings402, 404 and extend through corresponding slots in the closure carriage420 to be received in a retaining slot in the bushing 540. A closurespring 550 that is attached to a retainer clip 552 is journaled on theclosure bushing 540. The closure spring 550 extends between the nozzlebody 252 and an internal wall 425 in the closure carriage 420. Thus, theclosure spring 550 serves to bias the closure carriage 420 in theproximal direction “PD”.

Various embodiments may also include a releasable closure lockingassembly 560 that interfaces with the closure carriage 420 toselectively retain the closure carriage 420 in its distal-most closed orclamped position. In at least one form, the closure locking assembly 560includes a locking button 562 that is pivotally supported in the housingassembly 400. The locking button 562 has a latch arm 564 that isconfigured to abut a locking ledge 426 formed on the closure carriage420 when the button 562 is in the locked position. In addition, thelatch arm 564 has a catch 566 formed thereon that is configured toreleasably latch with a locking latch 502 on the proximal end of thefiring rack 500. A locking spring 568 serves to bias the locking button562 into the locked position.

Operation of the surgical instrument 10 will now be described. FIGS. 7-9illustrate the jaws 13 and 15 of the end effector 12 in an openposition. When the end effector 12 is in the open position, the latcharm 564 is located on top of the locking ledge 426 formed on the closurecarriage 420 such that the catch 566 of the latch arm 564 is inretaining engagement with the locking latch 502 on the firing rack 500.Thus, when in this initial starting position, the knife bar assembly 600cannot be inadvertently actuated. The clutch plate 510, as well as theclosure carriage, are each in their proximal-most unactuated positions.When in those positions, the clutch drive bevel 489 on the clutch shaft482 is in contact with a portion of the closure carriage 420, whichprevents the clutch shaft 482 from laterally moving into meshingengagement with the drive gear 490 under the bias of the clutch spring520.

To initiate the closure process, a first stroke is applied to thetrigger assembly 430. That is, the trigger assembly 430 is initiallypivoted toward the pistol grip 406. Such pivoting action serves to drivethe closure carriage 420 in the distal direction “DD” by virtue of themeshing engagement between the closure gear segment 466 on the secondarytrigger 460 and the carriage rack 423 formed on the underside of theclosure carriage 420. Such distal movement of the closure carriage 420also axially advances the proximal outer shaft segment 300 and thedistal closure tube segment 190 in the distal direction “DD”. As thedistal closure tube segment 190 moves distally, the pin 19 which extendsthrough the slots 23 in the anvil mounting portion 22, travels from theposition illustrated in FIGS. 8 and 9 to the position illustrated inFIGS. 4-6 to pivot the anvil 20 to the closed position. If the surgeondesires to simply grasp and manipulate tissue prior to clamping itbetween the anvil 20 and the surgical staple cartridge 30, the triggerassembly 430 may be pivoted to open and close the anvil 20 without fullypivoting the trigger assembly 430 to the fully closed position.

Those of ordinary skill in the art will understand that, as the triggerassembly 430 is pivoted toward the pistol grip 406, the actuation bar470 will necessarily also be driven distally by virtue of the meshingengagement between the primary gear segment 446 on the primary trigger440 and the first actuation rack 472 on the actuation bar 470. Thedistal movement of the actuation bar 470 will also result in the anapplication of a rotary actuation motion to the clutch shaft 482 byvirtue of the meshing engagement between the clutch teeth 484 on theclutch shaft 482 and the second actuation rack 474 on the actuation bar470. However, such rotary motion is not applied to the drive gear 490because the clutch arm 514 of the clutch plate 510, in contact with theclutch drive bevel 489 on the clutch shaft 482, prevents the axialmovement of the clutch shaft 482 into meshing engagement with the drivegear 490. Thus, the clutch shaft 482 freely rotates relative to thedrive gear 490. Accordingly, the clutch assembly 480 automaticallyprevents the activation of the firing rack 500 during the initialactuation of the trigger assembly 430.

Once the trigger assembly 430 has been initially fully compressed intothe closed position, the anvil 20 will be retained in the locked orclamped position by the closure locking assembly 560 which prevents theproximal movement of the closure carriage 420. To drive the knife barassembly 600 distally through the tissue clamped in the end effector 12,the surgeon again pivots the primary trigger 440 toward the pistol grip406 of the housing assembly 400. As the primary trigger 440 is pivoted,the firing rack 500, the firing rod 530, and the knife bar assembly 600are driven in the distal direction “DD”. After the knife bar assembly600 has been driven through the tissue clamped in the end effector 12,the surgeon then releases the primary trigger 440 to thereby permit theprimary trigger 440 to pivot to its unactuated position under the biasof the firing spring 432. As the primary trigger 440 pivots back to thestarting position, the firing rack 500, firing rod 530, and knife barassembly 600 are drawn proximally back to their respective startingpositions. The end effector 12 remains in its clamped position as shownin FIG. 6. As can also be seen in that Figure, the sled assembly 630remains in the distal end of the cartridge 30 while the knife barassembly 600 is returned to the starting position.

To unlock the closure carriage 420 and the secondary trigger 460, thesurgeon depresses the locking button 562. As the locking button 562 isdepressed, the locking arm 564 is pivoted out of abutting engagementwith the locking ledge 426 on the closure carriage 420. Further detailsregarding the operation of the firing and closure systems may be foundin U.S. Patent Application Publication No. US 2012/0074200 which hasbeen herein incorporated by reference in its entirety. As the closurecarriage 420 moves proximally, the proximal outer shaft segment 300, theflexible neck assembly 110, and the distal closure tube segment 190 aredrawn proximally. As the distal closure tube segment 190 movesproximally, the shaft 19 travels proximally within the slot 23 in theanvil mounting portion 22 to move the anvil 20 to an open position.

As can be appreciated from the foregoing, the various surgicalinstruments disclosed herein afford the clinician with improvedmaneuverability and various other advantages that are not available whenusing prior surgical instruments that are configured to cut and fastentissue. For example, in various implementations disclosed herein, theend effector is selectively articulatable in the same directions inwhich the jaws are movable relative to each other. Stated another way,the jaws of the surgical end effector are constrained to move in oneplane. In various implementations disclosed herein, the end effector isalso capable of moving in that same plane. Prior end effectors arecommonly constrained to move in planes that differ from the plane inwhich the jaws move.

Another advantage provided by many of the present implementations is theuse of a firing bar that comprises at least an upper firing bar and atleast a lower firing bar that form a laminated structure. The upper andlower bars may at some point be attached to each other or they may beunattached and just be contiguous with each other. In eitherarrangement, the upper bar is attached to an upper end of the cuttinghead and the lower bar may be attached to the lower head such that theyare spaced from each other at their points of attachment to the cuttinghead. Such arrangement serves to provide for a more stable cutting headarrangement that may be less likely to twist and/or buckle duringactuation. In addition, the cutting head may be equipped with laterallyprotruding upper tab(s) that engage a portion of the anvil and lowertab(s) that engage the elongated channel. The upper firing bar may beattached directly behind the point where the upper tabs are attachedsuch that it is axially aligned therewith. Likewise the lower firing barmay be attached to the bottom portion directly behind the points wherethe bottom tab(s) are attached such that it is axially alignedtherewith. Such axial alignment facilitates transfer of the driving oractuation motions to the cutting head at the points where the cuttinghead engages the anvil and the elongated channel which may furtherprevent and buckling and/or twisting of the cutting head duringactuation.

Thus, as can be appreciated from the foregoing, at least one surgicalinstrument embodiment of the present invention includes an end effectorthat employs jaws that are selectively movable between open and closedpositions by a closure system. The surgical instrument further includesa firing system that is independently actuatable from the closure systemfor deploying or otherwise actuating a firing member portion of the endeffector. The instrument further employs an articulation system that canbe used to selectively articulate the end effector in the samedirections in which the jaws may move relative to each other.

In one implementation, for example, one of the jaws is configured tooperably support a surgical staple cartridge that supports a pluralityof surgical staples therein. The surgical staples are supported ondrivers that are operably supported within pockets provided in thestaple cartridge. A sled assembly is also supported within thecartridge. The sled assembly is configured to operably interface withthe firing member of the surgical instrument. The other jaw comprises ananvil assembly that, in at least one implementation, is selectivelymovable relative to the elongated channel to enable tissue to be clampedbetween the anvil and the staple cartridge supported in the channel. Themovement of the anvil is controlled by the closure system that can beactuated without actuating the firing system. In at least oneimplementation, the instrument employs one or more lockout arrangementswhich prevent actuation of the firing system unless the anvil isretained in the closed position.

The firing member in the aforementioned arrangement includes a cuttinghead that includes a tissue cutting surface or blade. The firing memberis supported for distal travel through the surgical staple cartridgeupon actuation of the firing system. The cutting head is configured tomovably interface with the elongated channel and the anvil to maintain adesired amount of spacing between the surgical staple cartridge and theunderside of the anvil as the cutting head is advanced or “fired” fromits starting position to an ending position within the surgical staplecartridge. The cutting head is further configured to interface with thesled assembly so that as the cutting head is distally advanced throughthe staple cartridge, the cutting head moves to the sled assembly withit. As the sled assembly is driven distally through the cartridge, thesled assembly drives the staple drivers upwardly in the cartridge. Asthe staple drivers move upwardly in their pockets, the staples aredriven through the clamped tissue into forming contact with theundersurface of the anvil. After the cutting head has been driven to itsend position within the cartridge, the firing system may be used toretract the firing head back to a starting position.

In at least one implementation, the surgical instrument may employ alockout system that is configured to not only prevent actuation of thefiring system or stated another way, advancement of the cutting headthrough the elongated channel when a cartridge is not present, but alsoto prevent such firing system actuation unless a new cartridge has beenproperly supported within the elongated channel. In suchimplementations, each new cartridge has a sled assembly supported in astarting position. When a cartridge has been properly installed withinthe elongated channel, the sled assembly interfaces with the lockoutsystem to thereby enable the cutting head to be advanced distallythrough the cartridge. If, however, a spent cartridge has beeninadvertently installed in the elongated channel, the lockout systemwill prevent actuation of the cutting head, because the sled assemblywill be located in the distal end of the cartridge and thereby unable tointerface with the lockout system. Such system will prevent re-actuationof the firing system, should the clinician fail to replace a spentcartridge and attempt to actuate the firing system.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

Preferably, the invention described herein will be processed beforesurgery. First, a new or used instrument is obtained and if necessarycleaned. The instrument can then be sterilized. In one sterilizationtechnique, the instrument is placed in a closed and sealed container,such as a plastic or TYVEK bag. The container and instrument are thenplaced in a field of radiation that can penetrate the container, such asgamma radiation, x-rays, or high-energy electrons. The radiation killsbacteria on the instrument and in the container. The sterilizedinstrument can then be stored in the sterile container. The sealedcontainer keeps the instrument sterile until it is opened in the medicalfacility.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples. Further, this application is intended to cover suchdepartures from the present disclosure as come within known or customarypractice in the art to which this invention pertains.

What is claimed is:
 1. A surgical instrument, comprising: a surgical endeffector comprising first and second end effector portions, wherein thesecond end effector portion is selectively movable relative to the firstend effector portion in a first direction upon application of an openingmotion to said second end effector portion, said second end effectorportion being further selectively movable in a second direction uponapplication of a closing motion to said second end effector portion; anelongated shaft assembly defining a longitudinal tool axis and operablycoupled to said surgical end effector, said elongated shaft assemblyincluding an articulation portion for facilitating selectivearticulation of said surgical end effector relative to said longitudinaltool axis in said first and second directions upon application ofarticulation motions to said surgical end effector; a firing memberoperably supported for operable movement within said surgical endeffector upon application of firing and retraction motions thereto; afiring system configured to selectively apply said firing and retractionmotions to said firing member, said firing system comprising: a sourceof said firing and retraction motions; a first firing bar operablyinterfacing with said source of said firing and retraction motions andoperably attached to said firing member; and a second firing baroperably interfacing with said source of said firing and retractionmotions and operably attached to said firing member, said first andsecond firing bars configured to move axially together and laterallyrelative to each other upon application of said firing and retractionmotions to said first and second firing bars and wherein said surgicalinstrument further comprises: a closure system configured to selectivelyapply said opening and closing motions to said first and second endeffector portions; and an articulation control system for applying saidarticulation motions to said surgical end effector.
 2. The surgicalinstrument of claim 1, wherein said closure system is independentlyoperable from the firing system.
 3. The surgical instrument of claim 1,wherein one of said first and second end effector portions is configuredto operably support a surgical staple cartridge therein and wherein saidsurgical instrument further comprises a lockout system for preventingactuation of said firing system unless said surgical staple cartridgehas been installed in said one of said first and second end effectorportions.
 4. The surgical instrument of claim 3, wherein said surgicalstaple cartridge comprises: a cartridge body; a plurality of surgicalstaples operably supported in said cartridge body; and a sled assemblyoperably supported in said cartridge body and movable from a firstposition to a second position within the cartridge body such that saidsled assembly causes said surgical staples to be driven from saidcartridge body as said sled assembly is driven from said first positionto said second position.
 5. The surgical instrument of claim 4, whereinsaid firing member comprises a cutting head configured to move between alocked position wherein said cutting head is prevented from beingdistally advanced through said cartridge body and an unlocked positionwherein said cutting head is distally advanceable through said cartridgebody upon application of said firing motion thereto and wherein saidlockout system comprises a biasing member in said surgical end effectorfor biasing said cutting head into said locked position.
 6. The surgicalinstrument of claim 5, wherein said sled assembly is configured to biassaid cutting head into said unlocked position when said staple cartridgeis installed in said one of said first and second end effector portionsand said sled assembly is in said first position.
 7. The surgicalinstrument of claim 1, wherein said firing member comprises: a cuttinghead comprising: a vertically extending portion extending between anupper end and a lower end and comprising a tissue cutting portionoriented between said upper end and said lower end; a bottom footprotruding from said lower end of said vertically extending portion andconfigured to movably engage a bottom portion of said first end effectorportion; and an upper tab portion protruding from said upper end of saidvertically extending portion and configured to engage a portion of saidsecond end effector portion.
 8. The surgical instrument of claim 7,wherein said first and second firing bars are spaced from each other attheir respective points of attachment to the vertically extendingportion and remaining portions of said first and second firing bars arein contiguous orientation relative to each other.
 9. The surgicalinstrument of claim 8, wherein said remaining portions of said first andsecond firing bars that are in contiguous orientation relative to eachother are operably coupled to a firing rod member of said firing system.10. A surgical instrument comprising: a housing; a firing systemoperably supported by said housing, said firing system configured toselectively generate firing and retraction motions; a closure systemoperably supported by said housing and configured to selectivelygenerate opening and closing motions, said closure system beingindependently actuatable from said firing system; an elongate shaftassembly defining a longitudinal tool axis; a surgical end effectorcomprising: an elongated channel coupled to said elongate shaft assemblyand configured to removably support a surgical staple cartridge; ananvil movably supported relative to said elongated channel, said anvilmovable in a first direction from an open position to a closed positionupon application of said closing motion to said anvil, said anvil beingfurther movable from said closed position to said open position in asecond direction upon application of said opening motion to said anvil;and a firing member operably supported for operable movement within saidsurgical end effector upon application of said firing and retractionmotions thereto and wherein said surgical instrument further comprises:an axially movable closure member operably interfacing with said closuresystem for receiving said opening and closing motions therefrom, saidclosure member comprising a first cam member extending transverselyrelative to said longitudinal tool axis and configured to operablyinterface with said anvil to apply said opening and closing motionsthereto and wherein said elongate shaft assembly comprises: anarticulation portion for facilitating selective articulation of saidsurgical end effector relative to said longitudinal tool axis in saidfirst and second directions upon application of articulation motions tosaid surgical end effector from an articulation system operablysupported by said housing.
 11. The surgical instrument of claim 10,wherein said housing comprises a handle.
 12. The surgical instrument ofclaim 10, wherein said surgical staple cartridge comprises: a cartridgebody; a plurality of surgical staples operably supported in saidcartridge body; and a sled assembly operably supported in said cartridgebody and movable from a first position to a second position within thecartridge body such that said sled assembly causes said surgical staplesto be driven from said staple cartridge as said sled assembly is drivenfrom said first position to said second position.
 13. The surgicalinstrument of claim 12, wherein said firing member comprises a cuttinghead configured to move between a locked position wherein said cuttinghead is prevented from being distally advanced through said cartridgebody and an unlocked position wherein said cutting head is distallyadvanceable through said cartridge body upon application of said firingmotion thereto, and wherein said surgical instrument further comprises abiasing member in said end effector for biasing said cutting head intosaid locked position.
 14. The surgical instrument of claim 13, whereinsaid sled assembly is configured to bias said cutting head into saidunlocked position when said staple cartridge is installed in saidelongate channel.
 15. The surgical instrument of claim 10, wherein saidfiring member comprises: a cutting head comprising: a verticallyextending portion including an upper end and a lower end and a tissuecutting portion oriented between said upper end and said lower end; abottom foot protruding from said lower end of said vertically extendingportion and configured to movably engage a bottom portion of saidelongated channel; an upper tab portion protruding from said upper endof said vertically extending portion and configured to engage a portionof said anvil; and a firing bar assembly operably coupled to saidcutting head and operably interfacing with said firing system.
 16. Thesurgical instrument of claim 15, wherein said firing bar assemblycomprises: an upper firing bar segment coupled to said upper end of saidvertically extending portion of said cutting head; and a lower firingbar segment coupled to said lower end of said vertically extendingportion of said cutting head.
 17. A surgical instrument comprising: anelongate shaft assembly defining a longitudinal tool axis; an elongatedchannel interfacing with said elongate shaft assembly and configured toremovably support a surgical staple cartridge; an anvil movablysupported relative to said elongated channel; a cutting head comprising:a vertically extending portion including an upper end and a lower endand a tissue cutting portion oriented between said upper end and saidlower end; at least one bottom tab protruding from said lower end ofsaid vertically extending portion and configured to movably engage abottom portion of said elongated channel; at least one upper tab portionprotruding from said upper end of said vertically extending portion andconfigured to engage a portion of said anvil; and a firing bar assemblycomprising: an upper firing bar comprising an upper distal end portioncoupled to said upper end of said vertically extending portion of saidcutting head and a proximal upper end portion; a lower firing barcomprising a lower distal end portion coupled to said lower end of saidvertically extending portion of said cutting head and a proximal lowerend portion; and a proximal firing member operably interfacing with asource of firing motions and coupled to said proximal upper end portionof said upper firing bar and said proximal lower end portion of saidlower firing bar, and wherein said surgical instrument furthercomprises: an axially movable closure member operably interfacing with aclosure system for receiving opening and closing motions therefromindependent from said firing motions, said closure member comprising afirst cam member extending transversely relative to said longitudinaltool axis and between said upper firing bar and said lower firing barand being configured to operably interface with said anvil to apply saidopening and closing motions thereto.
 18. The surgical instrument ofclaim 17, wherein said upper and lower firing bars are spaced from eachother at their respective points of attachment to the verticallyextending portion and remaining portions of said upper and lower firingbars are in contiguous orientation relative to each other.
 19. Thesurgical instrument of claim 18, wherein said remaining portions of saidupper and lower firing bars that are in contiguous orientation relativeto each other are operably coupled to a firing rod member interfacingwith said source of firing motions.